106 lines
3.4 KiB
C++
106 lines
3.4 KiB
C++
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/**
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* @file task_runner.cpp
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* @brief 任务执行器实现。
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*/
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#include "main.h"
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#include "device/adc.h"
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#include "device/canfd.h"
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#include "device/temp_sensor.h"
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#include "sys/task_manager.h"
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#include "sys/task_runner.h"
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struct TaskRunner::Runtime {
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temp_sensor_data_t sample{};
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uint16_t last_vin_raw;
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uint16_t last_vref_raw;
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uint16_t last_temp_raw;
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uint32_t last_rx_id;
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uint8_t last_rx_len;
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uint8_t last_rx_data[64];
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};
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TaskRunner::Runtime TaskRunner::s_runtime;
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void TaskRunner::taskAdcVrefSample()
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{
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s_runtime.last_vin_raw = Adc::readVinRaw();
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s_runtime.last_vref_raw = Adc::readVrefRaw();
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}
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void TaskRunner::taskAdcTempSample()
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{
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s_runtime.last_temp_raw = Adc::readTempRaw();
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}
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void TaskRunner::taskAdcProcess()
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{
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auto &s = s_runtime.sample;
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s.vin_raw = s_runtime.last_vin_raw;
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s.vref_raw = s_runtime.last_vref_raw;
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s.temp_raw = s_runtime.last_temp_raw;
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s.vdda = Adc::calculateVdda(s.vref_raw);
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s.vin_adc_v = Adc::calculateVinAdcVoltage(s.vin_raw, s.vdda);
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s.temperature = Adc::calculateTemperature(s.temp_raw, s.vdda);
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}
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void TaskRunner::taskCanRxPoll() { CanFd::poll(); }
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void TaskRunner::taskCanTxSend() { CanFd::sendPrepared(); }
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void TaskRunner::taskCanRxParse()
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{
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if(CanFd::hasRxFrame())
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CanFd::consumeRxFrame(&s_runtime.last_rx_id, s_runtime.last_rx_data, &s_runtime.last_rx_len);
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}
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void TaskRunner::taskCanTxPrepare()
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{
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CanFd::StatusPayload status;
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status.temp_raw = s_runtime.sample.temp_raw;
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status.vref_raw = s_runtime.sample.vref_raw;
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status.vdda = s_runtime.sample.vdda;
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status.temperature = s_runtime.sample.temperature;
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CanFd::prepareStatus(&status);
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}
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void TaskRunner::taskStatusLed() { /* 预留 */ }
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void TaskRunner::taskHeartbeat() { /* 预留 */ }
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void TaskRunner::taskDiagnosticPrint()
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{
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const auto *diag = CanFd::diag();
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const auto &s = s_runtime.sample;
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printf("vin_raw=%u, vin_adc=%.3f V, temp_raw=%u, vref_raw=%u, vdda=%.3f V, temp=%.2f C, rx_id=0x%08lX, rx_len=%u, can_tx=%lu, can_rx=%lu, can_err=%lu\r\n",
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s.vin_raw, s.vin_adc_v, s.temp_raw, s.vref_raw, s.vdda, s.temperature,
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static_cast<unsigned long>(s_runtime.last_rx_id),
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static_cast<unsigned int>(s_runtime.last_rx_len),
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static_cast<unsigned long>(diag->tx_count),
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static_cast<unsigned long>(diag->rx_count),
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static_cast<unsigned long>(diag->error_count));
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}
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void TaskRunner::init()
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{
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Adc::collectSample(&s_runtime.sample);
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s_runtime.last_vin_raw = s_runtime.sample.vin_raw;
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s_runtime.last_vref_raw = s_runtime.sample.vref_raw;
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s_runtime.last_temp_raw = s_runtime.sample.temp_raw;
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}
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void TaskRunner::runPending()
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{
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const uint32_t pending = TaskManager::takePending();
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if(pending == 0U) return;
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if(pending & (1UL << TASK_ADC_VREF_SAMPLE)) taskAdcVrefSample();
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if(pending & (1UL << TASK_ADC_TEMP_SAMPLE)) taskAdcTempSample();
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if(pending & (1UL << TASK_ADC_PROCESS)) taskAdcProcess();
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if(pending & (1UL << TASK_CAN_RX_POLL)) taskCanRxPoll();
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if(pending & (1UL << TASK_CAN_RX_PARSE)) taskCanRxParse();
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if(pending & (1UL << TASK_CAN_TX_PREPARE)) taskCanTxPrepare();
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if(pending & (1UL << TASK_CAN_TX_SEND)) taskCanTxSend();
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if(pending & (1UL << TASK_STATUS_LED)) taskStatusLed();
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if(pending & (1UL << TASK_HEARTBEAT)) taskHeartbeat();
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if(pending & (1UL << TASK_DIAGNOSTIC_PRINT)) taskDiagnosticPrint();
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}
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